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<div class="title">ppf_registration.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2011, Alexandru-Eugen Ichim</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *                      Willow Garage, Inc</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#ifndef PCL_PPF_REGISTRATION_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#define PCL_PPF_REGISTRATION_H_</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/boost.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/registration.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/features/ppf.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_hash_map_search.html">   51</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_p_p_f_hash_map_search.html">PPFHashMapSearch</a></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_p_f_hash_map_search_1_1_hash_key_struct.html">   59</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_p_p_f_hash_map_search_1_1_hash_key_struct.html">HashKeyStruct</a> : <span class="keyword">public</span> std::pair &lt;int, std::pair &lt;int, std::pair &lt;int, int&gt; &gt; &gt;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <a class="code" href="structpcl_1_1_p_p_f_hash_map_search_1_1_hash_key_struct.html">HashKeyStruct</a>(<span class="keywordtype">int</span> a, <span class="keywordtype">int</span> b, <span class="keywordtype">int</span> c, <span class="keywordtype">int</span> d)</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;          this-&gt;first = a;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;          this-&gt;second.first = b;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;          this-&gt;second.second.first = c;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;          this-&gt;second.second.second = d;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        }</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      };</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">typedef</span> boost::unordered_multimap&lt;HashKeyStruct, std::pair&lt;size_t, size_t&gt; &gt; FeatureHashMapType;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;FeatureHashMapType&gt; FeatureHashMapTypePtr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;PPFHashMapSearch&gt; Ptr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_hash_map_search.html#a70567edaa6f463fc64f8a51688693839">   78</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_hash_map_search.html#a70567edaa6f463fc64f8a51688693839">PPFHashMapSearch</a> (<span class="keywordtype">float</span> angle_discretization_step = 12.0f / 180.0f * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI),</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                        <span class="keywordtype">float</span> distance_discretization_step = 0.01f)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        : alpha_m_ ()</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        , feature_hash_map_ (new FeatureHashMapType)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        , internals_initialized_ (false)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        , angle_discretization_step_ (angle_discretization_step)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        , distance_discretization_step_ (distance_discretization_step)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        , max_dist_ (-1.0f)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_hash_map_search.html#ab083faec61663cfd201deba063c976ff">   93</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_hash_map_search.html#ab083faec61663cfd201deba063c976ff">setInputFeatureCloud</a> (PointCloud&lt;PPFSignature&gt;::ConstPtr feature_cloud);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_hash_map_search.html#ad0e59279f59efee7d124c3bc652ed45b">  104</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_hash_map_search.html#ad0e59279f59efee7d124c3bc652ed45b">nearestNeighborSearch</a> (<span class="keywordtype">float</span> &amp;f1, <span class="keywordtype">float</span> &amp;f2, <span class="keywordtype">float</span> &amp;f3, <span class="keywordtype">float</span> &amp;f4,</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                             std::vector&lt;std::pair&lt;size_t, size_t&gt; &gt; &amp;indices);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      Ptr</div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_hash_map_search.html#a52abba6107018e140caa04f1383c943d">  109</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_hash_map_search.html#a52abba6107018e140caa04f1383c943d">makeShared</a>() { <span class="keywordflow">return</span> Ptr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_p_p_f_hash_map_search.html">PPFHashMapSearch</a> (*<span class="keyword">this</span>)); }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_hash_map_search.html#a565cf2da6499391da77138ab631e29fd">  113</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_hash_map_search.html#a565cf2da6499391da77138ab631e29fd">getAngleDiscretizationStep</a> () { <span class="keywordflow">return</span> angle_discretization_step_; }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_hash_map_search.html#ac02bd46291eeefb473d6984818a77473">  117</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_hash_map_search.html#ac02bd46291eeefb473d6984818a77473">getDistanceDiscretizationStep</a> () { <span class="keywordflow">return</span> distance_discretization_step_; }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_hash_map_search.html#a636d7b16437fc528bb9b46bb8342e50f">  121</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_hash_map_search.html#a636d7b16437fc528bb9b46bb8342e50f">getModelDiameter</a> () { <span class="keywordflow">return</span> max_dist_; }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      std::vector &lt;std::vector &lt;float&gt; &gt; alpha_m_;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      FeatureHashMapTypePtr feature_hash_map_;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keywordtype">bool</span> internals_initialized_;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keywordtype">float</span> angle_discretization_step_, distance_discretization_step_;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keywordtype">float</span> max_dist_;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  };</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target&gt;</div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html">  144</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_p_p_f_registration.html">PPFRegistration</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_registration.html">Registration</a>&lt;PointSource, PointTarget&gt;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  {</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="structpcl_1_1_p_p_f_registration_1_1_pose_with_votes.html">  151</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_p_p_f_registration_1_1_pose_with_votes.html">PoseWithVotes</a></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <a class="code" href="structpcl_1_1_p_p_f_registration_1_1_pose_with_votes.html">PoseWithVotes</a>(Eigen::Affine3f &amp;a_pose, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &amp;a_votes)</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        : pose (a_pose),</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;          votes (a_votes)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        {}</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        Eigen::Affine3f pose;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> votes;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      };</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keyword">typedef</span> std::vector&lt;PoseWithVotes, Eigen::aligned_allocator&lt;PoseWithVotes&gt; &gt; PoseWithVotesList;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::input_</a>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::target_</a>;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::converged_</a>;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::final_transformation_</a>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::transformation_</a>;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::Ptr PointCloudSourcePtr;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::ConstPtr PointCloudSourceConstPtr;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::Ptr PointCloudTargetPtr;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::ConstPtr PointCloudTargetConstPtr;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#a9fcd950538e85af2c7a22b2b5822311b">  181</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_registration.html#a9fcd950538e85af2c7a22b2b5822311b">PPFRegistration</a> ()</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      :  <a class="code" href="classpcl_1_1_registration.html">Registration</a>&lt;PointSource, PointTarget&gt; (),</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;         <a class="code" href="classpcl_1_1_p_p_f_registration.html#a6aeeb5f0c22b243811de9b1d54430ed8">search_method_</a> (),</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;         <a class="code" href="classpcl_1_1_p_p_f_registration.html#a81558223a8cbaad7a8eebc1f8734a986">scene_reference_point_sampling_rate_</a> (5),</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;         <a class="code" href="classpcl_1_1_p_p_f_registration.html#af0e1a385efcf81a840af9c6aee61efee">clustering_position_diff_threshold_</a> (0.01f),</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;         clustering_rotation_diff_threshold_ (20.0f / 180.0f * static_cast&lt;float&gt; (M_PI))</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      {}</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#aec9018d13ae61fec0ddef2ac3eb25adc">  194</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_registration.html#aec9018d13ae61fec0ddef2ac3eb25adc">setPositionClusteringThreshold</a> (<span class="keywordtype">float</span> clustering_position_diff_threshold) { <a class="code" href="classpcl_1_1_p_p_f_registration.html#af0e1a385efcf81a840af9c6aee61efee">clustering_position_diff_threshold_</a> = clustering_position_diff_threshold; }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#ae868a0fe13afd90893bc0df6da1e584d">  201</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_registration.html#ae868a0fe13afd90893bc0df6da1e584d">getPositionClusteringThreshold</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_p_p_f_registration.html#af0e1a385efcf81a840af9c6aee61efee">clustering_position_diff_threshold_</a>; }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#a5db89d3161247e5353813cde0ba52317">  208</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_registration.html#a5db89d3161247e5353813cde0ba52317">setRotationClusteringThreshold</a> (<span class="keywordtype">float</span> clustering_rotation_diff_threshold) { clustering_rotation_diff_threshold_ = clustering_rotation_diff_threshold; }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#a334485a40d37eebf6ec064ddf96cdd89">  213</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_registration.html#a334485a40d37eebf6ec064ddf96cdd89">getRotationClusteringThreshold</a> () { <span class="keywordflow">return</span> clustering_rotation_diff_threshold_; }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#ad5e4c02883065bd8ab8697084b226c93">  219</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_registration.html#ad5e4c02883065bd8ab8697084b226c93">setSceneReferencePointSamplingRate</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> scene_reference_point_sampling_rate) { <a class="code" href="classpcl_1_1_p_p_f_registration.html#a81558223a8cbaad7a8eebc1f8734a986">scene_reference_point_sampling_rate_</a> = scene_reference_point_sampling_rate; }</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#a2a720fb1ab5f5191fe46b9cd59fa55ec">  223</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_registration.html#a2a720fb1ab5f5191fe46b9cd59fa55ec">getSceneReferencePointSamplingRate</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_p_p_f_registration.html#a81558223a8cbaad7a8eebc1f8734a986">scene_reference_point_sampling_rate_</a>; }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#af4a95c5ec42edda442a08d262063d669">  231</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_registration.html#af4a95c5ec42edda442a08d262063d669">setSearchMethod</a> (PPFHashMapSearch::Ptr search_method) { <a class="code" href="classpcl_1_1_p_p_f_registration.html#a6aeeb5f0c22b243811de9b1d54430ed8">search_method_</a> = search_method; }</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keyword">inline</span> PPFHashMapSearch::Ptr</div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#a65767434d13e29ca89903e8c534d8a25">  235</a></span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_registration.html#a65767434d13e29ca89903e8c534d8a25">getSearchMethod</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_p_p_f_registration.html#a6aeeb5f0c22b243811de9b1d54430ed8">search_method_</a>; }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_registration.html#a655faff5a032bb9c71fcadeb99117b4f">setInputTarget</a> (<span class="keyword">const</span> PointCloudTargetConstPtr &amp;cloud);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_registration.html#a6b064724e7c5ba9cbcf22e656d61f575">computeTransformation</a> (PointCloudSource &amp;output, <span class="keyword">const</span> Eigen::Matrix4f&amp; guess);</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#a6aeeb5f0c22b243811de9b1d54430ed8">  251</a></span>&#160;      PPFHashMapSearch::Ptr <a class="code" href="classpcl_1_1_p_p_f_registration.html#a6aeeb5f0c22b243811de9b1d54430ed8">search_method_</a>;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#a81558223a8cbaad7a8eebc1f8734a986">  254</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_p_p_f_registration.html#a81558223a8cbaad7a8eebc1f8734a986">scene_reference_point_sampling_rate_</a>;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#af0e1a385efcf81a840af9c6aee61efee">  258</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_p_p_f_registration.html#af0e1a385efcf81a840af9c6aee61efee">clustering_position_diff_threshold_</a>, clustering_rotation_diff_threshold_;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_p_f_registration.html#aae777f9bd26c1c25b0bc965c6cee744c">  261</a></span>&#160;      <span class="keyword">typename</span> pcl::KdTreeFLANN&lt;PointTarget&gt;::Ptr <a class="code" href="classpcl_1_1_p_p_f_registration.html#aae777f9bd26c1c25b0bc965c6cee744c">scene_search_tree_</a>;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_registration.html#aed6a3ac46717db09d39711f098eae0d0">poseWithVotesCompareFunction</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_p_f_registration_1_1_pose_with_votes.html">PoseWithVotes</a> &amp;a,</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;                                    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_p_f_registration_1_1_pose_with_votes.html">PoseWithVotes</a> &amp;b);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_registration.html#a397336b90d998ff941cbddcf5ae55df1">clusterVotesCompareFunction</a> (<span class="keyword">const</span> std::pair&lt;size_t, unsigned int&gt; &amp;a,</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;                                   <span class="keyword">const</span> std::pair&lt;size_t, unsigned int&gt; &amp;b);</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_registration.html#a33d8e91ad51df937dac46cfa8427546c">clusterPoses</a> (PoseWithVotesList &amp;poses,</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;                    PoseWithVotesList &amp;result);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <a class="code" href="classpcl_1_1_p_p_f_registration.html#a6c6edb4b29a9cbc48a3091a9a10f1b30">posesWithinErrorBounds</a> (Eigen::Affine3f &amp;pose1,</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;                              Eigen::Affine3f &amp;pose2);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  };</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;}</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/ppf_registration.hpp&gt;</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_PPF_REGISTRATION_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_hash_map_search_html"><div class="ttname"><a href="classpcl_1_1_p_p_f_hash_map_search.html">pcl::PPFHashMapSearch</a></div><div class="ttdef"><b>Definition:</b> ppf_registration.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_hash_map_search_html_a52abba6107018e140caa04f1383c943d"><div class="ttname"><a href="classpcl_1_1_p_p_f_hash_map_search.html#a52abba6107018e140caa04f1383c943d">pcl::PPFHashMapSearch::makeShared</a></div><div class="ttdeci">Ptr makeShared()</div><div class="ttdoc">Convenience method for returning a copy of the class instance as a boost::shared_ptr</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:109</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_hash_map_search_html_a565cf2da6499391da77138ab631e29fd"><div class="ttname"><a href="classpcl_1_1_p_p_f_hash_map_search.html#a565cf2da6499391da77138ab631e29fd">pcl::PPFHashMapSearch::getAngleDiscretizationStep</a></div><div class="ttdeci">float getAngleDiscretizationStep()</div><div class="ttdoc">Returns the angle discretization step parameter (the step value between each bin of the hash map for ...</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_hash_map_search_html_a636d7b16437fc528bb9b46bb8342e50f"><div class="ttname"><a href="classpcl_1_1_p_p_f_hash_map_search.html#a636d7b16437fc528bb9b46bb8342e50f">pcl::PPFHashMapSearch::getModelDiameter</a></div><div class="ttdeci">float getModelDiameter()</div><div class="ttdoc">Returns the maximum distance found between any feature pair in the given input feature cloud</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:121</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_hash_map_search_html_a70567edaa6f463fc64f8a51688693839"><div class="ttname"><a href="classpcl_1_1_p_p_f_hash_map_search.html#a70567edaa6f463fc64f8a51688693839">pcl::PPFHashMapSearch::PPFHashMapSearch</a></div><div class="ttdeci">PPFHashMapSearch(float angle_discretization_step=12.0f/180.0f *static_cast&lt; float &gt;(M_PI), float distance_discretization_step=0.01f)</div><div class="ttdoc">Constructor for the PPFHashMapSearch class which sets the two step parameters for the enclosed data s...</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_hash_map_search_html_ab083faec61663cfd201deba063c976ff"><div class="ttname"><a href="classpcl_1_1_p_p_f_hash_map_search.html#ab083faec61663cfd201deba063c976ff">pcl::PPFHashMapSearch::setInputFeatureCloud</a></div><div class="ttdeci">void setInputFeatureCloud(PointCloud&lt; PPFSignature &gt;::ConstPtr feature_cloud)</div><div class="ttdoc">Method that sets the feature cloud to be inserted in the hash map</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_hash_map_search_html_ac02bd46291eeefb473d6984818a77473"><div class="ttname"><a href="classpcl_1_1_p_p_f_hash_map_search.html#ac02bd46291eeefb473d6984818a77473">pcl::PPFHashMapSearch::getDistanceDiscretizationStep</a></div><div class="ttdeci">float getDistanceDiscretizationStep()</div><div class="ttdoc">Returns the distance discretization step parameter (the step value between each bin of the hash map f...</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:117</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_hash_map_search_html_ad0e59279f59efee7d124c3bc652ed45b"><div class="ttname"><a href="classpcl_1_1_p_p_f_hash_map_search.html#ad0e59279f59efee7d124c3bc652ed45b">pcl::PPFHashMapSearch::nearestNeighborSearch</a></div><div class="ttdeci">void nearestNeighborSearch(float &amp;f1, float &amp;f2, float &amp;f3, float &amp;f4, std::vector&lt; std::pair&lt; size_t, size_t &gt; &gt; &amp;indices)</div><div class="ttdoc">Function for finding the nearest neighbors for the given feature inside the discretized hash map</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html">pcl::PPFRegistration</a></div><div class="ttdoc">Class that registers two point clouds based on their sets of PPFSignatures. Please refer to the follo...</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a2a720fb1ab5f5191fe46b9cd59fa55ec"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a2a720fb1ab5f5191fe46b9cd59fa55ec">pcl::PPFRegistration::getSceneReferencePointSamplingRate</a></div><div class="ttdeci">unsigned int getSceneReferencePointSamplingRate()</div><div class="ttdoc">Returns the parameter for the scene reference point sampling rate of the algorithm</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a334485a40d37eebf6ec064ddf96cdd89"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a334485a40d37eebf6ec064ddf96cdd89">pcl::PPFRegistration::getRotationClusteringThreshold</a></div><div class="ttdeci">float getRotationClusteringThreshold()</div><div class="ttdoc">Returns the parameter defining the rotation clustering threshold</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:213</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a33d8e91ad51df937dac46cfa8427546c"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a33d8e91ad51df937dac46cfa8427546c">pcl::PPFRegistration::clusterPoses</a></div><div class="ttdeci">void clusterPoses(PoseWithVotesList &amp;poses, PoseWithVotesList &amp;result)</div><div class="ttdoc">Method that clusters a set of given poses by using the clustering thresholds and their corresponding ...</div><div class="ttdef"><b>Definition:</b> ppf_registration.hpp:193</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a397336b90d998ff941cbddcf5ae55df1"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a397336b90d998ff941cbddcf5ae55df1">pcl::PPFRegistration::clusterVotesCompareFunction</a></div><div class="ttdeci">static bool clusterVotesCompareFunction(const std::pair&lt; size_t, unsigned int &gt; &amp;a, const std::pair&lt; size_t, unsigned int &gt; &amp;b)</div><div class="ttdoc">static method used for the std::sort function to order two pairs &lt;index, votes&gt; by the number of vote...</div><div class="ttdef"><b>Definition:</b> ppf_registration.hpp:284</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a5db89d3161247e5353813cde0ba52317"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a5db89d3161247e5353813cde0ba52317">pcl::PPFRegistration::setRotationClusteringThreshold</a></div><div class="ttdeci">void setRotationClusteringThreshold(float clustering_rotation_diff_threshold)</div><div class="ttdoc">Method for setting the rotation clustering parameter</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:208</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a655faff5a032bb9c71fcadeb99117b4f"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a655faff5a032bb9c71fcadeb99117b4f">pcl::PPFRegistration::setInputTarget</a></div><div class="ttdeci">void setInputTarget(const PointCloudTargetConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input target (e.g., the point cloud that we want to align the input source t...</div><div class="ttdef"><b>Definition:</b> ppf_registration.hpp:53</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a65767434d13e29ca89903e8c534d8a25"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a65767434d13e29ca89903e8c534d8a25">pcl::PPFRegistration::getSearchMethod</a></div><div class="ttdeci">PPFHashMapSearch::Ptr getSearchMethod()</div><div class="ttdoc">Getter function for the search method of the class</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a6aeeb5f0c22b243811de9b1d54430ed8"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a6aeeb5f0c22b243811de9b1d54430ed8">pcl::PPFRegistration::search_method_</a></div><div class="ttdeci">PPFHashMapSearch::Ptr search_method_</div><div class="ttdoc">the search method that is going to be used to find matching feature pairs</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:251</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a6b064724e7c5ba9cbcf22e656d61f575"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a6b064724e7c5ba9cbcf22e656d61f575">pcl::PPFRegistration::computeTransformation</a></div><div class="ttdeci">void computeTransformation(PointCloudSource &amp;output, const Eigen::Matrix4f &amp;guess)</div><div class="ttdoc">Method that calculates the transformation between the input_ and target_ point clouds,...</div><div class="ttdef"><b>Definition:</b> ppf_registration.hpp:63</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a6c6edb4b29a9cbc48a3091a9a10f1b30"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a6c6edb4b29a9cbc48a3091a9a10f1b30">pcl::PPFRegistration::posesWithinErrorBounds</a></div><div class="ttdeci">bool posesWithinErrorBounds(Eigen::Affine3f &amp;pose1, Eigen::Affine3f &amp;pose2)</div><div class="ttdoc">Method that checks whether two poses are close together - based on the clustering threshold parameter...</div><div class="ttdef"><b>Definition:</b> ppf_registration.hpp:259</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a81558223a8cbaad7a8eebc1f8734a986"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a81558223a8cbaad7a8eebc1f8734a986">pcl::PPFRegistration::scene_reference_point_sampling_rate_</a></div><div class="ttdeci">unsigned int scene_reference_point_sampling_rate_</div><div class="ttdoc">parameter for the sampling rate of the scene reference points</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:254</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_a9fcd950538e85af2c7a22b2b5822311b"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#a9fcd950538e85af2c7a22b2b5822311b">pcl::PPFRegistration::PPFRegistration</a></div><div class="ttdeci">PPFRegistration()</div><div class="ttdoc">Empty constructor that initializes all the parameters of the algorithm with default values</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:181</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_aae777f9bd26c1c25b0bc965c6cee744c"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#aae777f9bd26c1c25b0bc965c6cee744c">pcl::PPFRegistration::scene_search_tree_</a></div><div class="ttdeci">pcl::KdTreeFLANN&lt; PointTarget &gt;::Ptr scene_search_tree_</div><div class="ttdoc">use a kd-tree with range searches of range max_dist to skip an O(N) pass through the point cloud</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:261</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_ad5e4c02883065bd8ab8697084b226c93"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#ad5e4c02883065bd8ab8697084b226c93">pcl::PPFRegistration::setSceneReferencePointSamplingRate</a></div><div class="ttdeci">void setSceneReferencePointSamplingRate(unsigned int scene_reference_point_sampling_rate)</div><div class="ttdoc">Method for setting the scene reference point sampling rate</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:219</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_ae868a0fe13afd90893bc0df6da1e584d"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#ae868a0fe13afd90893bc0df6da1e584d">pcl::PPFRegistration::getPositionClusteringThreshold</a></div><div class="ttdeci">float getPositionClusteringThreshold()</div><div class="ttdoc">Returns the parameter defining the position difference clustering parameter - distance threshold belo...</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_aec9018d13ae61fec0ddef2ac3eb25adc"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#aec9018d13ae61fec0ddef2ac3eb25adc">pcl::PPFRegistration::setPositionClusteringThreshold</a></div><div class="ttdeci">void setPositionClusteringThreshold(float clustering_position_diff_threshold)</div><div class="ttdoc">Method for setting the position difference clustering parameter</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_aed6a3ac46717db09d39711f098eae0d0"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#aed6a3ac46717db09d39711f098eae0d0">pcl::PPFRegistration::poseWithVotesCompareFunction</a></div><div class="ttdeci">static bool poseWithVotesCompareFunction(const PoseWithVotes &amp;a, const PoseWithVotes &amp;b)</div><div class="ttdoc">static method used for the std::sort function to order two PoseWithVotes instances by their number of...</div><div class="ttdef"><b>Definition:</b> ppf_registration.hpp:275</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_af0e1a385efcf81a840af9c6aee61efee"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#af0e1a385efcf81a840af9c6aee61efee">pcl::PPFRegistration::clustering_position_diff_threshold_</a></div><div class="ttdeci">float clustering_position_diff_threshold_</div><div class="ttdoc">position and rotation difference thresholds below which two poses are considered to be in the same cl...</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:258</div></div>
<div class="ttc" id="aclasspcl_1_1_p_p_f_registration_html_af4a95c5ec42edda442a08d262063d669"><div class="ttname"><a href="classpcl_1_1_p_p_f_registration.html#af4a95c5ec42edda442a08d262063d669">pcl::PPFRegistration::setSearchMethod</a></div><div class="ttdeci">void setSearchMethod(PPFHashMapSearch::Ptr search_method)</div><div class="ttdoc">Function that sets the search method for the algorithm</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html"><div class="ttname"><a href="classpcl_1_1_registration.html">pcl::Registration</a></div><div class="ttdoc">Registration represents the base registration class for general purpose, ICP-like methods.</div><div class="ttdef"><b>Definition:</b> registration.h:63</div></div>
<div class="ttc" id="astructpcl_1_1_p_p_f_hash_map_search_1_1_hash_key_struct_html"><div class="ttname"><a href="structpcl_1_1_p_p_f_hash_map_search_1_1_hash_key_struct.html">pcl::PPFHashMapSearch::HashKeyStruct</a></div><div class="ttdoc">Data structure to hold the information for the key in the feature hash map of the PPFHashMapSearch cl...</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:60</div></div>
<div class="ttc" id="astructpcl_1_1_p_p_f_registration_1_1_pose_with_votes_html"><div class="ttname"><a href="structpcl_1_1_p_p_f_registration_1_1_pose_with_votes.html">pcl::PPFRegistration::PoseWithVotes</a></div><div class="ttdoc">Structure for storing a pose (represented as an Eigen::Affine3f) and an integer for counting votes</div><div class="ttdef"><b>Definition:</b> ppf_registration.h:152</div></div>
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